JPH0627045Y2 - Ground height detection sensor structure for mobile agricultural machinery - Google Patents

Description

[Detailed Description of the Invention] (a) Field of Industrial Application The present invention relates to a ground height detection sensor structure of a mobile agricultural machine.

(B) Conventional technology Conventionally, in order to maintain a constant working depth in a mobile farm machine,
A non-contact type sensor such as an ultrasonic distance sensor is installed on the farm machine, and the sensor detects the height of the field scene through which the farm machine should pass, and the working machine is based on the detected value. By raising and lowering, the control for maintaining a constant working depth was performed.

(C) Problems to be solved by the device However, since the mounting position and the detection direction of the sensor are fixed, the passing time at the point where the sensor detects height varies depending on the traveling speed of the mobile agricultural machine. Poor matching with the response of lifting and lowering operation of work equipment,
When the traveling speed is slow, the lifting operation of the work implement is performed early. On the contrary, when the traveling speed is fast, the lifting operation is delayed, and accurate plowing depth control cannot be performed.

(D) Means for Solving the Problems In this invention, in a mobile agricultural machine configured to detect the height above ground with a non-contact type distance sensor and maintain the working machine at a predetermined height, It is intended to provide a ground-height detection sensor structure for a mobile agricultural machine in which the braid angle from the vertical line of the detection direction can be changed in relation to the traveling speed of the mobile agricultural machine.

(E) Action / Effect According to this invention, the knitting angle from the vertical line of the detection direction of the non-contact type distance sensor can be changed in relation to the traveling speed of the mobile agricultural machine, so that the height of the field scene can be reduced. It is possible to move the point to detect forward and backward according to the traveling speed, so it is possible to detect the height of the point that matches the response of the lifting operation of the working machine, and the lifting operation of the working machine can be timely. It is possible to perform accurate plowing depth control.

(F) Embodiments When an embodiment of the present invention is described in detail with reference to the drawings, (A) shows an agricultural tractor, and an engine (2) and a hydraulic pump directly connected to the engine (2) on an upper surface of a frame (1). The prime mover (4) with the built-in (3) is installed, and the mission case is located at the rear of the clutch housing (5) that is connected to the rear of the prime mover (4)
(6) are connected to drive the left and right rear wheels (7) arranged on the left and right sides of the case (6), and the left and right front wheels (8) are arranged on the lower left and right sides of the frame (1). The steering wheel installed upright in the driving section (9)
It is configured so that the tractor (A) is driven by steering at (10).

Further, on the rear surface of the mission case (6), a hitch (11) that can be tilted left and right is continuously provided, and the working machine (B) is connected through the hitch (11). In (B), the cultivating shaft (13) mounted below the machine frame (12) is rotated via the interlocking mechanism (14), and a large number of cultivating claws (15) are planted on the coaxial shaft (13). It is configured to plowing the surface.

A rear cover (16) rotatable around the upper end of the upper cover (26) is provided behind the tiller claw (15), and the machine frame (12) is further provided. A tail wheel (18) is hung from the rear of the through a depth adjusting frame (17).

A hydraulically operated lifting mechanism (19) is arranged on the upper surface of the mission case (6), and the left and right lift arms (20) (21) extending rearward from the mechanism (19) are It is rotated up and down around the mechanism (19), and the tips of the arms (20) and (21) are
The machine frame (1) of the working machine (B) is respectively passed through the lift rods (22).
The work machine (B) is moved up and down by the operation of the mechanism (19) in connection with the work mechanism (2). The work machine (B) is raised by the hydraulic pressure from the hydraulic pump (3), while the work machine (B) is lowered by the weight of the work machine (B).

In addition, in the middle of the right lift rod,
A hydraulic cylinder (23) is provided for rolling (B) with respect to the tractor (A).

The operation of these hydraulic actuators is controlled by the control device (C) configured as described below.

That is, the tractor (A) has a pitching sensor (2
4) is arranged on the left side of the driving part (9), and between the rear surface of the mission case (6) and the hitch (11) connected to the rear surface so as to be tiltable left and right, the tractor (A) and the working machine. A rolling sensor (25) for detecting the relative inclination with (B) is installed, and the front axle (2
A pulse counter type vehicle speed sensor (27) is provided in 8).

Also, at the base end of the left lift arm (20) of the lifting mechanism (19),
A lift sensor (23) is provided to detect the vertical rotation angle of the arm (20) to detect the vertical position of the working machine (B). At the base end of the lever (30), a reverse detection sensor (31) that outputs when the lever (30) is in the reverse position is provided.

Further, as shown in FIG. 1, the lower surface of the clutch housing (5) between the front left and right wheels (8) and the rear left and right wheels (7) of the tractor (A) is provided with an ultrasonic type through a stepping motor (50). The distance sensor (51) is vertically installed, and the rotation angle of the motor (50) is controlled by the microcomputer (33) of the control device (C), whereby the sensor (51) is moved in the front-back direction, that is, Tilt it back and forth along the direction of deep plowing of the tractor (A),
The knitting angle (θ) from the vertical in the same detection direction (52)
The speed can be changed in relation to the traveling speed of (A).

The operation of the lifting mechanism (19) and the hydraulic cylinder (23) for rolling is performed by the above sensors (24) (25) (27) (29) (3).
1) Controlled by the detection result of (51), a control box (32) for initial setting of this control and switching of control modes is arranged on the upper surface of the right fender of the operating section (9).

The control box (32) has built-in peripheral devices such as a microcomputer (33) and input / output interfaces (33-1) (33-2) inside.The box (32) has a mode switching surface. Dial (34), work implement vertical position setting dial (35), tilling depth setting dial (36), sensitivity setting switch (37) for tilling depth control, lift switch (38) for manually raising and lowering the implement (B). ), A left / right tilt angle setting dial (39) between the tractor (A) and the work implement (B), a left / right tilting speed setting switch (40), and a left / right tilt reversing switch (41).

Then, each sensor (2
4) (25) (27) (29) (31) (51) output from each dial and switch (34) (35) (36) (37) (38) (39) (40) (41) The solenoids (44) (45) () of the electromagnetic hydraulic control valves (42) (43) for controlling the operation of the lifting mechanism (19) and the hydraulic cylinder (23) for rolling are processed by referring to the set position of It is configured to output control to 46) and (47).

The embodiment of the present invention is configured as described above, and the time until the working machine (B) reaches the set value after the control output is made to the lifting mechanism (19), that is, the mobile agricultural machine running during the so-called time lag period. By pointing the detection direction of the distance sensor (51) toward the front of the field by an amount equivalent to the distance, it is possible to detect the height of that point and the matching with the lifting operation of the working machine (B) becomes good. It is possible to perform accurate tillage depth control with timely operation without slowing down.

The knitting angle (θ) in the detection direction (52) is measured by the sensor (5
Let 1 be the horizontal distance in the side view from the mounting position of 1) to the center of the left and right rear wheels (7), and set the ground clearance of the sensor (51) when the tractor (A) is located on a flat horizontal road surface. h
And the traveling speed is v and the time lag is t, the ground angle
(53) is calculated by the following equation.

θ = tan ^-1 {(V × tl) / h} Therefore, the microcomputer (33) of the controller (C) outputs pulses to the stepping motor (50) by the amount corresponding to the above braid angle (θ). Then, the sensor (51) should be rotated.

The value detected by the sensor (51) is the detection direction (52).
Therefore, in order to obtain the actual ground clearance, the detection value of the sensor (51) may be multiplied by cos θ.

In addition, the sensor can be configured to hang on the lower surface of the body of the tractor (A) so as to be slidable back and forth, and to detect the height of a point in front of the vehicle corresponding to the traveling speed. A rail may be arranged on the lower surface of the tractor (A) for supporting, and a rack and a pinion may be used for sliding back and forth.

In addition, the one shown in FIG. 6 and FIG. 7 corresponds to the tread of the left and right rear wheels (7) and (7) through the non-contact type distance sensor (53) on the lower surface of the machine body through the stepping motor (54). It is another embodiment in which it is vertically installed so as to reciprocate at a short cycle with the amplitude of the angle, and the height of the left and right rear wheels (7) and (7) in front of the ground contact point is alternately detected. The height of the field scene can be detected by a single non-contact type distance sensor (53), and the height of the field scene that the left and right rear wheels (7) (7) should pass through can be detected in advance, so that the tractor (A ) Predicting the left / right inclination of), and controlling the hydraulic cylinder (23) provided on one lift rod (22) ensures that the work implement (B) remains horizontal even if the tractor (A) leans left / right. can do.

Further, the working depth control is performed using the average of the detection values at the front points of the left and right rear wheels (7) and (7) of the sensor (53), or the detection value when the sensor (53) faces vertically downward. You can also

[Brief description of drawings]

FIG. 1 is an overall side view of a mobile agricultural machine having a ground height detecting sensor structure according to the present invention. FIG. 2 is a plan view of the same. FIG. 3 is a plan view of the control box. FIG. 4 is a hydraulic circuit diagram. FIG. 5 is a block diagram of the control device. 6 and 7 show another embodiment (B): working machine (θ): braiding angle (51): non-contact type distance sensor (52): detection direction

Claims (1)

[Scope of utility model registration request] 1. A mobile agricultural machine configured to maintain a working machine (B) at a predetermined height by detecting a height above ground with a non-contact type distance sensor (51), and detecting the sensor (51). Direction (52)
The structure to detect the ground height of the mobile agricultural machine, which is configured to be able to change the deviation angle (θ) from the vertical line in relation to the traveling speed of the mobile agricultural machine.